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Paper Information

Journal:   INTERNATIONAL JOURNAL OF ENGINEERING   JUNE 2004 , Volume 17 , Number 2 (TRANSACTIONS A: BASICS); Page(s) 193 To 204.
 
Paper: 

OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH

 
 
Author(s):  KORAYEM M.H., GHARIBLOU H., BASU A.
 
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Abstract: 
Optimal load of mobile robots, carrying a load with predefined motion precision, is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given cnd-effector trajectory are taken into account. The main constraints applied for the presented algorithm are torque capacity of actuators, limited error bound for the end-effector and overturning stability during the motion on the given trajectory. In order to verfy the effectiveness of the presented algorithm a simulation study considering a compliant joint two-link planar manipulator mounted on a differentially driven mobile base is explained in details.
 
Keyword(s): OPTIMAL LOAD, OVERTURNING STABILITY, BASE MOBILITY, JOINT ELASTICITY
 
 
References: 
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Citations: 
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APA: Copy

KORAYEM, M., & GHARIBLOU, H., & BASU, A. (2004). OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH. INTERNATIONAL JOURNAL OF ENGINEERING, 17(2 (TRANSACTIONS A: BASICS)), 193-204. https://www.sid.ir/en/journal/ViewPaper.aspx?id=2258



Vancouver: Copy

KORAYEM M.H., GHARIBLOU H., BASU A.. OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH. INTERNATIONAL JOURNAL OF ENGINEERING. 2004 [cited 2021June18];17(2 (TRANSACTIONS A: BASICS)):193-204. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=2258



IEEE: Copy

KORAYEM, M., GHARIBLOU, H., BASU, A., 2004. OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH. INTERNATIONAL JOURNAL OF ENGINEERING, [online] 17(2 (TRANSACTIONS A: BASICS)), pp.193-204. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=2258.



 
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